Abstract: A hand-held device for assisted steering of a percutaneously inserted needle comprises a handle, an actuation unit, and a haptic feedback unit. A computer-implemented system calculates a needle shape and position based on one or a combination of analysis of ultrasound images and determination of needle insertion parameters based on electronic signals generated by a sensor unit. The system calculates a correction to a needle insertion parameter to achieve a target needle trajectory, including a correction to a needle axial rotation. The system activates the actuation unit to rotate the needle in accordance with the correction to the needle axial rotation, and activates to the haptic feedback unit to vibrate the handle in a vibration pattern determined by a rules database depending on one or a combination of the calculated needle shape, the calculated needle position, and the correction to the needle insertion parameter.

Abstract: The present invention provides a sensorized medical instrument that is suitable for application to, and training and skills assessment for, a variety of therapeutic, diagnostic, surgical and medical procedures. It is comprised of a sterilizable sensorized instrument capable of measuring forces in five degrees of freedom and tip position in six degrees of freedom. The instrument can be used to perform a variety of tasks through the integration of interchangeable instrument tips and handles. The system is capable of providing feedback to the user regarding critical forces/torques acting on the tissue, position and orientation of the instrument and its tip near critical areas within the body, or user performance during training and skills evaluation.